Master Thesis

Trajectory optimization techniques for closed-chain motion planning

Supervisor/s

Information

If you are interested in the proposal, please contact with the supervisors.

Description

One of the most fundamental tasks in robotics is that of path planning: to find a collision-free trajectory to move the robot from one point to another. This problem is particularly challenging if the robots involved in the problem form one or more closed chains. This happens, for instance, in service robots that use two arms to manipulate objects (see the Baxter robot, for instance). In many situations, the fastest way to solve the problem is to determine a feasible trajectory ignoring the obstacles and latter on optimize this trajectory to avoid the collisions. However, the existing optimization methods for trajectories can not deal with closed chains.

Objective

The objective of this project is to adapt existing trajectory optimization techniques to the closed-chain case.